关键词: 多目标定位与抓取, 梯度直方图特征, 轮廓迭代最近点配准

Abstract: The positioning and grabbing of robotic targets are central to the field of industrial robotic automation. In order to solve the problem of time-consuming and error-prone 3D robot grasping, this paper proposes a machine vision grasping scheme based on CICP registration and establishes a 3D multi-dimensional space target model location computer vision system. The rough area of the gradient histogram feature+support vector machine is used to get the approximate target area, then the target contour is extracted by using the preprocessing method based on Guide filtering and flood fill to get the contour point cloud. ICP is used for point cloud registration to obtain the perspective transformation matrix of the target workpiece, which can well solve the problem of locating and grasping the multi-target workpiece on the conveyor belt. The experiment shows that the system can control the grasping error within 0.4 mm, and for small workpieces, the registration time can be shortened to less than 200 ms.

Key words: multi-target positioning and grabbing, histogram of oriented gradient, contour iterative closest point